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(11)

EP 4 042 189 A1

(12)

(43) Date of publication: 17.08.2022 Bulletin 2022/33 (21) Application number: 20892831.7 (22) Date of filing: 20.11.2020

(51) International Patent Classification (IPC):  G01S 7/4863(2020.01) G01S 17/10(2020.01) G01S 7/481(2006.01) (52) Cooperative Patent Classification (CPC): G01S 7/4815; G01S 7/484; G01S 17/10; G01S 17/89; G01S 17/931; G01S 7/4868; G01S 17/87 (86) International application number: PCT/US2020/061448 (87) International publication number: WO 2021/108242 (03.06.2021 Gazette 2021/22)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR Designated Extension States: BA ME Designated Validation States: KH MA MD TN (30) Priority: 29.11.2019 US 201962941989 P 22.09.2020 US 202017028847 (71) Applicant: Waymo LLC Mountain View, CA 94043 (US)	(72) Inventors: DROZ, Pierre-Yves Mountain View, CA 94043 (US) MARX, Michael Mountain View, CA 94043 (US) STARK, Ethan Mountain View, CA 94043 (US) (74) Representative: Derry, Paul Stefan et al Venner Shipley LLP 200 Aldersgate London EC1A 4HD London EC1A 4HD (GB)